ATE525711T1 - METHOD AND DEVICE FOR DETERMINING POSITION AND ORIENTATION - Google Patents

METHOD AND DEVICE FOR DETERMINING POSITION AND ORIENTATION

Info

Publication number
ATE525711T1
ATE525711T1 AT05252915T AT05252915T ATE525711T1 AT E525711 T1 ATE525711 T1 AT E525711T1 AT 05252915 T AT05252915 T AT 05252915T AT 05252915 T AT05252915 T AT 05252915T AT E525711 T1 ATE525711 T1 AT E525711T1
Authority
AT
Austria
Prior art keywords
orientation
imaging device
sensor
measured
coordinates
Prior art date
Application number
AT05252915T
Other languages
German (de)
Inventor
Kiyohide Satoh
Shinji Uchiyama
Original Assignee
Canon Kk
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Kk filed Critical Canon Kk
Application granted granted Critical
Publication of ATE525711T1 publication Critical patent/ATE525711T1/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/242—Aligning, centring, orientation detection or correction of the image by image rotation, e.g. by 90 degrees
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning

Abstract

An index detector detects image coordinates of indices arranged on a scene from an image shot by an imaging device. An orientation sensor is attached to the imaging device, and outputs a measured orientation. An orientation prediction unit predicts an orientation of the imaging device on the basis of the measured orientation obtained by the orientation sensor. A position/orientation calculator receives the predicted orientation of the imaging device and a set of the image coordinates and world coordinates of each index, determines the position of the imaging device and an update value for an azimuth-drift-error correction value of the orientation sensor, and calculates the position and orientation of the imaging device.
AT05252915T 2004-05-14 2005-05-12 METHOD AND DEVICE FOR DETERMINING POSITION AND ORIENTATION ATE525711T1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004144892A JP4593968B2 (en) 2004-05-14 2004-05-14 Position and orientation measurement method and apparatus

Publications (1)

Publication Number Publication Date
ATE525711T1 true ATE525711T1 (en) 2011-10-15

Family

ID=34941262

Family Applications (1)

Application Number Title Priority Date Filing Date
AT05252915T ATE525711T1 (en) 2004-05-14 2005-05-12 METHOD AND DEVICE FOR DETERMINING POSITION AND ORIENTATION

Country Status (5)

Country Link
US (1) US7752008B2 (en)
EP (1) EP1596331B1 (en)
JP (1) JP4593968B2 (en)
CN (1) CN100408969C (en)
AT (1) ATE525711T1 (en)

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Also Published As

Publication number Publication date
EP1596331A2 (en) 2005-11-16
CN1865842A (en) 2006-11-22
US20050261573A1 (en) 2005-11-24
JP4593968B2 (en) 2010-12-08
JP2005326282A (en) 2005-11-24
CN100408969C (en) 2008-08-06
EP1596331A3 (en) 2008-02-13
US7752008B2 (en) 2010-07-06
EP1596331B1 (en) 2011-09-21

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